CN105716684A - UAV (Unmanned Aerial Vehicle) liquid level measuring device and UAV liquid level measuring method - Google Patents
UAV (Unmanned Aerial Vehicle) liquid level measuring device and UAV liquid level measuring method Download PDFInfo
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- CN105716684A CN105716684A CN201610101423.1A CN201610101423A CN105716684A CN 105716684 A CN105716684 A CN 105716684A CN 201610101423 A CN201610101423 A CN 201610101423A CN 105716684 A CN105716684 A CN 105716684A
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- liquid level
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/14—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measurement of pressure
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Abstract
The invention provides a UAV (Unmanned Aerial Vehicle) liquid level measuring device which comprises a box body and a liquid level sensing module, wherein the box body is used for accommodating liquid pesticides; the box body comprises a bottom surface and side surfaces connected with the bottom surface; the end parts, which are adjacent to the bottom surface, of the side surfaces are provided with openings; the liquid level sensing module comprises a sensing head, a microcontrol unit, circuit boards of an electric connection sensing head and a microcontrol unit; the sensing head partially passes through the openings so as to be accommodated in the box body; the microcontrol unit and the circuit board are fixed to the external surface of the box body. The invention also provides a UAV liquid level measuring method. Compared with the prior art, the UAV liquid level measuring device is simple in structure, convenient to install, accurate in measurement and relatively low in cost.
Description
Technical field
The present invention relates to a kind of unmanned plane liquid level emasuring device and method.
Background technology
Owing to pesticide is generally of deep-etching, rocking, vibrate and muddy, be easily generated the features such as foam, so far, the agricultural unmanned plane liquid pesticidal for loading in casing, but without detecting device or the method for a kind of fairly simple effective pesticide liquid level.The Main Means measuring solution level in prior art has the methods such as ultrasound wave, electric capacity, photoelectricity, static pressure, but these methods or heaviness, installation inconvenience, low precision, corrosion resistance is poor, cloudiness liquid cannot be measured, to foam, rock sensitivity, be all less suitable for use in measurement unmanned plane pesticide liquid level.
Summary of the invention
In view of the foregoing, it is necessary to a kind of novel unmanned plane liquid level emasuring device and method are provided.
A kind of unmanned plane liquid level emasuring device, it includes casing and liquid level sensing module.Described casing is used for housing liquid pesticidal, and described casing includes bottom surface and connects the side of described bottom surface, and the end opens of described side adjacent floor has opening.Described liquid level sensing module includes the circuit board of sensing head, micro-control unit, electrical connection sensing head and micro-control unit, and sensing head part is contained in casing through described opening, and described micro-control unit, circuit board are fixed on box outer surface.
As the further improvement of above-mentioned unmanned plane liquid level emasuring device, described casing farther includes the accepting groove caved inward, and described micro-control unit, circuit board are housed in described accepting groove.
Further improvement as above-mentioned unmanned plane liquid level emasuring device, accepting groove includes the gasket groove of ring-type towards the contact surface of liquid level sensing module, described gasket groove is used for placing packing ring, described packing ring realizes the sealing between liquid level sensing module and casing, to prevent leakage between liquid level sensing module and casing.
As the further improvement of above-mentioned unmanned plane liquid level emasuring device, described sensing head includes the balloon portion of substantially cylindrical and connects the pedestal of balloon portion, the circular surface that sensing face is balloon portion top of sensing head.
As the further improvement of above-mentioned unmanned plane liquid level emasuring device, the parallel described side of sensing face.
As the further improvement of above-mentioned unmanned plane liquid level emasuring device, described unmanned plane includes master controller, and described circuit board is connected to master controller by wire, and described wire is close to the outer surface of casing and is arranged.
As the further improvement of above-mentioned unmanned plane liquid level emasuring device, also include another one sensing face towards the sensing head outside casing, for the atmospheric pressure of test box external body.
Further improvement as above-mentioned unmanned plane liquid level emasuring device, farther include to house the sensor housing of liquid level sensing module, the side of described sensor housing includes the through hole for exposing sensing head, also including the sealing strip causing circuit board short circuit in sensor housing for preventing medicinal liquid from penetrating into, described sealing strip is folded between sensor housing and sensing head.
A kind of unmanned plane level measuring method, measures the atmospheric pressure F in the casing not housing liquid pesticidal including using the first liquid level sensing moduleGas；The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And according to atmospheric pressure FGasWith height or volume that the pressure F of box bottom calculates liquid pesticidal in casing.
A kind of unmanned plane level measuring method, including the atmospheric pressure F using the second liquid level sensing module measure case external bodyGas；The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And according to atmospheric pressure FGasWith height or volume that the pressure F of casing inner bottom part calculates liquid pesticidal in casing.
Relative to prior art, the unmanned plane liquid level emasuring device of the present invention and method hinge structure simple in construction, easy for installation, measure accurately, and less costly.
Accompanying drawing explanation
Fig. 1 is the perspective view of unmanned plane liquid level emasuring device of the present invention；
Fig. 2 is the sectional view of Fig. 1；
Fig. 3 is the sectional view at another visual angle of Fig. 1；
Fig. 4 is the close-up schematic view in A portion in Fig. 2；
Fig. 5 is the perspective view of liquid level sensing module in Fig. 1；
Fig. 6 is the schematic diagram of liquid level another embodiment of sensing module of the present invention；
Fig. 7 is the liquid level schematic diagram calculation of unmanned plane liquid level emasuring device shown in Fig. 1.
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other, and below in conjunction with the drawings and specific embodiments, the present invention are described in further detail.
If directional instruction in the embodiment of the present invention (such as up, down, left, right, before and after ...) is only for explaining relative position relation between each parts, motion conditions etc. under a certain particular pose (as shown in drawings), if described particular pose changes, then the instruction of described directivity also correspondingly changes therewith.
If it addition, relate to the description of " first ", " second " etc. in the present invention only for descriptive purposes, and it is not intended that instruction or imply its relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or implicitly include at least one described feature.
Referring to Fig. 1-Fig. 7, the unmanned plane liquid level emasuring device 100 of the present invention includes: for housing the casing 10 of liquid pesticidal 17, and described casing 10 includes bottom surface 20 and connects the side 30 of described bottom surface 20.
In present embodiment, the cross section of described casing 10 is substantially u-shaped, and the middle part of casing 10 is provided with the depressed part 90 housing airframe.Described bottom surface 20 is arcwall face, and described side 30 is approximately perpendicular to described bottom surface 20.
The end opens of described side 30 adjacent floor 20 has the opening 13 of through casing 10 inner accepting space, and described opening 13 position correspondence is provided with liquid level sensing module 40.Refer to Fig. 5, described liquid level sensing module 40 includes sensing 41, micro-control unit (MicrocontrollerUnit；MCU) 42, the circuit board 43 of electrical connection sensing 41 and micro-control unit 42.In present embodiment, described sensing 41 and micro-control unit 42 are welded on the same side of circuit board 43, described sensing 41 includes the balloon portion 412 of substantially cylindrical and connects the pedestal 414 of balloon portion, the circular surface that sensing face 411 is balloon portion 412 top of sensing 41, sensing 41 protrudes from described circuit board 43 and arranges, and the almost parallel circuit board 43 of sensing face 411.In alternate embodiments, described sensing 41 and micro-control unit 42 can be welded on the not homonymy of circuit board 43.In better embodiment, realizing electrical connection by SPI interface between described sensing 41 and micro-control unit 42, described sensing 41 is high accuracy barometer ms5803-ba, and described micro-control unit 42 adopts MCUstm32f103.
In present embodiment, the barometer ms5803-ba adopting small volume low in energy consumption due to sensing 41 substitutes traditional LS, and therefore unmanned plane liquid level emasuring device 100 weight of the present invention is very light, and power consumption is only small.
In better embodiment, refer to Fig. 6, liquid level sensing module 40 farther includes to house the sensor housing 45 of liquid level sensing module 40, and the side of described sensor housing 45 includes the through hole 451 of the sensing face 411 for exposing sensing 41.In present embodiment, described sensor housing 45 is metal material housing, for instance aluminum mass shell body.In better embodiment, liquid level sensing module 40 farther includes to prevent medicinal liquid from penetrating into the sealing strip 44 causing circuit board 43 short circuit in sensor housing 45, described sealing strip 44 is arranged around through hole 451, and be folded between sensor housing 45 and sensing 41, it is advantageous to embodiment is folded between the pedestal 414 of sensor housing 45 and sensing 41.In present embodiment, described sealing strip is ring-type, and diameter more than balloon portion 412 less than pedestal 414.
Described sensing 41 is contained in casing 10 through described opening 13, and other parts of liquid level sensing module 40 are fixed on box outer surface by sensor housing 45.
In better embodiment, described casing 10 farther includes the accepting groove 32 caved inward, and described sensor housing 45 is housed in described accepting groove 32.Liquid level sensing module 40 is fixed on tank 32 on the contact surface of liquid level sensing module 40 by 4 screws 70.In present embodiment, described screw 70 is soket head cap screw, and accepting groove 32 also includes the screw 35 of multiple corresponding screw 70 towards the contact surface of liquid level sensing module 40.
In better embodiment, accepting groove 32 includes the gasket groove of ring-type towards the contact surface of liquid level sensing module 40, described gasket groove is used for placing packing ring 34, described packing ring 34 can realize the sealing between sensor housing 45 and opening 13 when liquid level sensing module 40 is mounted to accepting groove 32, to prevent the liquid pesticidal 17 in casing 10 by opening 13 seepage.In present embodiment, packing ring 34 is folded between the accepting groove 32 contact surface towards liquid level sensing module 40 and sensor housing 45, and is partly or entirely housed in gasket groove.
In alternate embodiments, sensor housing 45 and sealing strip 44 can omit, and now the pedestal 414 of described sensing 41 directly contacts with the packing ring 34 in gasket groove, it is achieved the sealing between liquid level sensing module 40 and opening 13.
In present embodiment, it is fixed on the almost parallel described side 30 of sensing face 411 of the described sensing 41 of casing 10, the edge of described sensing face 411 and bottom surface 20 contiguous.In better embodiment, described side 30 is plane, and towards unmanned plane afterbody.In present embodiment, the parallel described side 30 of sensing face 411, so that the upper surface of the liquid pesticidal 17 housed in being approximately perpendicular to casing or bottom surface, in order to avoid the impurity in liquid pesticidal 17 is deposited on piezometric surface, affects level accuracy.
In present embodiment, casing 10 top farther includes the air inlet 11 of connection external pressure and casing 10 inner space, also includes hydrojet conduit 12 away from the position of sensing 41 bottom casing 10, for being discharged by the liquid pesticidal 17 in casing 10.
In better embodiment, described unmanned plane includes master controller 60, and described circuit board 43 is connected to master controller 60 by wire 61, and described wire 61 is close to the outer surface of casing 10 and is arranged.
In better embodiment, the test philosophy of unmanned plane liquid level emasuring device 100 is as follows: the pressure F=atmospheric pressure F that sensing face 411 receivesGasThe pressure F of+liquid pesticidal 17Liquid.Atmospheric pressure FGasImmobilize in certain time, place.After unmanned plane start work, before to medicine-chest 10 adding liquid pesticide 17, control liquid level sensing module 40 and measure the atmospheric pressure F of a there and thenGas, this value is saved in micro-control unit 42 internal.The pressure F of the liquid pesticidal 17 addedLiquid=ρ × g × h, ρ is the density of liquid pesticidal 17, and g is acceleration of gravity, and h is the height of liquid pesticidal 17.For certain liq pesticide 17, density is that change is little, it is possible to the height h of the pressure F and liquid pesticidal 17 that are approximately considered the liquid pesticidal 17 that barometer tests out is directly proportional.After calibrating, it is possible to the pressure F of liquid pesticidal 17 is changed into the height h of liquid pesticidal 17, and then obtain the volume of liquid pesticidal 17.The unmanned plane liquid level emasuring device 100 of present embodiment is through reality test, and precision can reach ± 5mm.The requirement of agricultural unmanned plane can be met completely.
In alternate embodiments, in order to measure atmospheric pressure accurately more in real time, unmanned plane liquid level emasuring device 100 can also include another one sensing face 411 towards the sensing 41 outside casing 10.In present embodiment, sensing face 411 is towards the sensing 41 within casing 10 at medicine-chest close beta liquid pesticidal 17 pressure F, and sensing face 411 tests the atmospheric pressure F outside casing 10 towards the sensing 41 of casing 10 extraneous airGas.Their pressure differential is exactly the pressure F of liquid pesticidal 17Liquid, after calibrating, it is possible to obtain liquid pesticidal 17 height more accurately, and then obtain the volume of liquid pesticidal 17.Increasing a sensing 41 can to atmospheric pressure FGasCarry out measuring accurately in real time, and then obtain the height h of more accurate liquid pesticidal 17.
In alternate embodiments, unmanned plane liquid level emasuring device 100 may further include liquid level warning module, for when the liquid level 15 of liquid pesticidal 17 is down to pre-set threshold value, sending level alarm information.Liquid level warning module both can be integrated in the soft and hardware module in micro-control unit 42 or master controller 60, it is also possible to is the circuit module being individually located on circuit board 43.
The present invention utilizes above-mentioned unmanned plane liquid level emasuring device 100 to provide a kind of unmanned plane level measuring method, and described method includes: use the first liquid level sensing module to measure the atmospheric pressure F in the casing not housing liquid pesticidalGas；The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And according to atmospheric pressure FGasWith height or volume that the pressure F of box bottom calculates liquid pesticidal in casing.
In alternate embodiments, the present invention utilizes above-mentioned unmanned plane liquid level emasuring device 100 to provide another kind of unmanned plane level measuring method, and described method includes: use the atmospheric pressure F of the second liquid level sensing module measure case external bodyGas；The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And according to atmospheric pressure FGasWith height or volume that the pressure F of casing inner bottom part calculates liquid pesticidal in casing.
In better embodiment, according to liquid pesticidal in certain time 17 height change, it is possible to calculate liquid pesticidal 17 spray rate further.Liquid pesticidal 17 spray rate v=liquid pesticidal 17 consumes volume/spraying time t.Wherein, liquid pesticidal 17 consumes the sectional area s of the liquid level 15 of the height change △ h × liquid pesticidal of volume=liquid pesticidal 17, for rule medicine-chest, the liquid level 15 sectional area s of liquid pesticidal 17 is changeless, and liquid pesticidal 17 height change △ h can be calculated by preceding method, time t can by the accurate timing of micro-control unit.For irregular medicine-chest, the relation between liquid pesticidal 17 height change △ h and the volume of liquid pesticidal 17 obtains also by the inquiry table correspondence pre-build.Accurate liquid pesticidal 17 spray rate can allow master controller 60 in conjunction with flight speed and flying height, controls unmanned plane sprinkling system and is more uniformly distributed spraying liquid pesticide 17 efficiently.And according to different liquid pesticidals 17, master controller 60 can take different sprinkling strategies, carry out differentiation operation, in order to save liquid pesticidal 17, reduce environmental disruption.
The unmanned plane liquid level emasuring device of the present invention and method hinge structure simple in construction, easy for installation, measure accurately, and less costly, solve the multiple technologies obstacle of unmanned plane level gauging in prior art.
Embodiment of above is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to above better embodiment, it will be understood by those within the art that, it is possible to technical scheme is modified or is equal to and replace the spirit and scope that should not depart from technical solution of the present invention.
Claims (10)
1. a unmanned plane liquid level emasuring device, it is characterised in that it includes
Casing, described casing is used for housing liquid pesticidal, and described casing includes bottom surface and connects the side of described bottom surface, and the end opens of described side adjacent floor has opening；And
Liquid level sensing module, described liquid level sensing module includes the circuit board of sensing head, micro-control unit, electrical connection sensing head and micro-control unit, and sensing head part is contained in casing through described opening, and described micro-control unit, circuit board are fixed on box outer surface.
2. unmanned plane liquid level emasuring device according to claim 1, it is characterised in that described casing farther includes the accepting groove caved inward, and described micro-control unit, circuit board are housed in described accepting groove.
3. unmanned plane liquid level emasuring device according to claim 1, it is characterized in that, accepting groove includes the gasket groove of ring-type towards the contact surface of liquid level sensing module, described gasket groove is used for placing packing ring, described packing ring realizes the sealing between liquid level sensing module and casing, to prevent leakage between liquid level sensing module and casing.
4. unmanned plane liquid level emasuring device according to claim 1, it is characterised in that described sensing head includes the balloon portion of substantially cylindrical and connects the pedestal of balloon portion, the circular surface that sensing face is balloon portion top of sensing head.
5. unmanned plane liquid level emasuring device according to claim 4, it is characterised in that the parallel described side of sensing face.
6. unmanned plane liquid level emasuring device according to claim 1, it is characterised in that described unmanned plane includes master controller, described circuit board is connected to master controller by wire, and described wire is close to the outer surface of casing and is arranged.
7. unmanned plane liquid level emasuring device according to claim 1, it is characterised in that also include another one sensing face towards the sensing head outside casing, for the atmospheric pressure of test box external body.
8. unmanned plane liquid level emasuring device according to claim 1, it is characterized in that, farther include to house the sensor housing of liquid level sensing module, the side of described sensor housing includes the through hole for exposing sensing head, also including the sealing strip causing circuit board short circuit in sensor housing for preventing medicinal liquid from penetrating into, described sealing strip is folded between sensor housing and sensing head.
9. a unmanned plane level measuring method, it is characterised in that described method includes:
The first liquid level sensing module is used to measure the atmospheric pressure F in the casing not housing liquid pesticidalGas；
The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And
According to atmospheric pressure FGasWith height or volume that the pressure F of box bottom calculates liquid pesticidal in casing.
10. a unmanned plane level measuring method, it is characterised in that described method includes:
Use the atmospheric pressure F of the second liquid level sensing module measure case external bodyGas；
The first liquid level sensing module measurement is used to contain the pressure F of casing inner bottom part of liquid pesticidal；And
According to atmospheric pressure FGasWith height or volume that the pressure F of casing inner bottom part calculates liquid pesticidal in casing.
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Cited By (12)
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| CN106218891A (en) * | 2016-07-27 | 2016-12-14 | 成都天麒科技有限公司 | A kind of plant protection unmanned plane medicine-chest |
| CN106275443A (en) * | 2016-08-16 | 2017-01-04 | 陕西飞中飞航空科技有限公司 | A kind of unmanned plane medicine-chest with curved inner surface typing |
| CN106370269A (en) * | 2016-11-21 | 2017-02-01 | 山东省泰安市农业机械科学研究所 | Novel unmanned plant protection aerial vehicle liquid level detection device |
| CN107421598A (en) * | 2017-06-21 | 2017-12-01 | 华南农业大学 | A kind of liquid measure monitoring device and monitoring method |
| CN108007529A (en) * | 2017-12-01 | 2018-05-08 | 泉州市西决三维科技有限公司 | A kind of dispenser unmanned plane liquid warning device |
| CN108073205A (en) * | 2017-12-19 | 2018-05-25 | 浙江大学 | A kind of unmanned plane of bionical air bladder is prevented swinging liquid case |
| CN108106689A (en) * | 2017-11-16 | 2018-06-01 | 浙江大学 | A kind of modeling method and device using pressure sensor on-line monitoring agricultural machinery medicine-chest residue drug storage amount |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
| WO2019071572A1 (en) * | 2017-10-13 | 2019-04-18 | 佛山市顺德区美的饮水机制造有限公司 | Liquid level detection device and water dispenser having same |
| WO2019100965A1 (en) * | 2017-11-21 | 2019-05-31 | 广州极飞科技有限公司 | Smart agent container cover, smart agent container, and aircraft |
| CN113264184A (en) * | 2021-05-20 | 2021-08-17 | 北斗安泽防务科技有限公司 | Water tank connection structure for fire control unmanned aerial vehicle |
| CN113841679A (en) * | 2021-11-11 | 2021-12-28 | 黑龙江省农业科学院黑河分院 | Harmful insect pesticide spraying robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218891A (en) * | 2016-07-27 | 2016-12-14 | 成都天麒科技有限公司 | A kind of plant protection unmanned plane medicine-chest |
| CN106218891B (en) * | 2016-07-27 | 2018-07-20 | 成都天麒科技有限公司 | A kind of plant protection drone medicine-chest |
| CN106275443A (en) * | 2016-08-16 | 2017-01-04 | 陕西飞中飞航空科技有限公司 | A kind of unmanned plane medicine-chest with curved inner surface typing |
| CN106275443B (en) * | 2016-08-16 | 2018-12-07 | 陕西飞中飞航空科技有限公司 | A kind of unmanned plane medicine-chest with curved inner surface parting |
| CN106370269A (en) * | 2016-11-21 | 2017-02-01 | 山东省泰安市农业机械科学研究所 | Novel unmanned plant protection aerial vehicle liquid level detection device |
| CN107421598A (en) * | 2017-06-21 | 2017-12-01 | 华南农业大学 | A kind of liquid measure monitoring device and monitoring method |
| WO2019071572A1 (en) * | 2017-10-13 | 2019-04-18 | 佛山市顺德区美的饮水机制造有限公司 | Liquid level detection device and water dispenser having same |
| CN108106689B (en) * | 2017-11-16 | 2019-06-11 | 浙江大学 | A kind of modeling method and device using pressure sensor on-line monitoring agricultural machinery medicine-chest residue drug storage amount |
| CN108106689A (en) * | 2017-11-16 | 2018-06-01 | 浙江大学 | A kind of modeling method and device using pressure sensor on-line monitoring agricultural machinery medicine-chest residue drug storage amount |
| WO2019100965A1 (en) * | 2017-11-21 | 2019-05-31 | 广州极飞科技有限公司 | Smart agent container cover, smart agent container, and aircraft |
| WO2019104454A1 (en) * | 2017-11-28 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Pesticide tank flow rate detection method, device and agricultural unmanned aerial vehicle |
| CN109152353A (en) * | 2017-11-28 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Medicine-chest flow rate testing methods, device and agricultural unmanned plane |
| CN109152353B (en) * | 2017-11-28 | 2021-12-21 | 深圳市大疆创新科技有限公司 | Pesticide box flow detection method and device and agricultural unmanned aerial vehicle |
| CN108007529A (en) * | 2017-12-01 | 2018-05-08 | 泉州市西决三维科技有限公司 | A kind of dispenser unmanned plane liquid warning device |
| CN108073205A (en) * | 2017-12-19 | 2018-05-25 | 浙江大学 | A kind of unmanned plane of bionical air bladder is prevented swinging liquid case |
| CN113264184A (en) * | 2021-05-20 | 2021-08-17 | 北斗安泽防务科技有限公司 | Water tank connection structure for fire control unmanned aerial vehicle |
| CN113841679A (en) * | 2021-11-11 | 2021-12-28 | 黑龙江省农业科学院黑河分院 | Harmful insect pesticide spraying robot |
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Application publication date: 20160629 |
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